#ifndef _PID_H
#define _PID_H
#include "main.h"
#include "kinematics.h"
#include "Servo.h"
#include "math.h"
typedef struct 
{
    double axis_kp;
    double axis_ki;
    double axis_kd;

}PID_param;

void PID_Init(void);
void Position_Clear(void);
void Axis_Pid_Control(JointAngles *joint_angles,double pid_angles_bias[],double steer_out[]);

#endif

